Dense 3D Reconstruction with a Hand-Held Camera

In this paper we present a method for dense 3D reconstruction from videos where object silhouettes are hard to retrieve. We introduce a close coupling between sparse bundle adjustment and dense multiview reconstruction, which includes surface constraints by the sparse point cloud and an implicit loop closing via the dense surface. The surface is computed in a volumetric framework and guarantees a dense surface without holes. We demonstrate the flexibility of the approach on indoor and outdoor scenes recorded with a commodity hand-held camera.